Skip to content
体验新版
项目
组织
正在加载...
登录
切换导航
打开侧边栏
Pinoxchio
apollo
提交
f412959c
A
apollo
项目概览
Pinoxchio
/
apollo
与 Fork 源项目一致
从无法访问的项目Fork
通知
2
Star
0
Fork
0
代码
文件
提交
分支
Tags
贡献者
分支图
Diff
Issue
0
列表
看板
标记
里程碑
合并请求
0
Wiki
0
Wiki
分析
仓库
DevOps
项目成员
Pages
A
apollo
项目概览
项目概览
详情
发布
仓库
仓库
文件
提交
分支
标签
贡献者
分支图
比较
Issue
0
Issue
0
列表
看板
标记
里程碑
合并请求
0
合并请求
0
Pages
分析
分析
仓库分析
DevOps
Wiki
0
Wiki
成员
成员
收起侧边栏
关闭侧边栏
动态
分支图
创建新Issue
提交
Issue看板
体验新版 GitCode,发现更多精彩内容 >>
提交
f412959c
编写于
9月 17, 2018
作者:
L
luoqi06
提交者:
Jiangtao Hu
9月 17, 2018
浏览文件
操作
浏览文件
下载
电子邮件补丁
差异文件
Control : move logic from Proc() to Init()
上级
a4300af7
变更
1
隐藏空白更改
内联
并排
Showing
1 changed file
with
14 addition
and
14 deletion
+14
-14
modules/control/control_component.cc
modules/control/control_component.cc
+14
-14
未找到文件。
modules/control/control_component.cc
浏览文件 @
f412959c
...
...
@@ -18,8 +18,8 @@
#include <iomanip>
#include <string>
#include "modules/common/adapters/adapter_gflags.h"
#include "cybertron/common/log.h"
#include "modules/common/adapters/adapter_gflags.h"
#include "modules/common/time/time.h"
#include "modules/common/util/file.h"
#include "modules/common/vehicle_state/vehicle_state_provider.h"
...
...
@@ -97,6 +97,19 @@ bool ControlComponent::Init() {
control_cmd_writer_
=
node_
->
CreateWriter
<
ControlCommand
>
(
control_conf_
.
control_command_channel
());
// set initial vehicle state by cmd
// need to sleep, because advertised channel is not ready immediately
// simple test shows a short delay of 80 ms or so
AINFO
<<
"Control resetting vehicle state, sleeping for 1000 ms ..."
;
std
::
this_thread
::
sleep_for
(
std
::
chrono
::
milliseconds
(
1000
));
// should init_vehicle first, let car enter work status, then use status msg
// trigger control
AINFO
<<
"Control default driving action is "
<<
DrivingAction_Name
(
control_conf_
.
action
());
pad_msg_
.
set_action
(
control_conf_
.
action
());
return
true
;
}
...
...
@@ -211,19 +224,6 @@ Status ControlComponent::ProduceControlCommand(
}
bool
ControlComponent
::
Proc
()
{
// set initial vehicle state by cmd
// need to sleep, because advertised channel is not ready immediately
// simple test shows a short delay of 80 ms or so
AINFO
<<
"Control resetting vehicle state, sleeping for 1000 ms ..."
;
std
::
this_thread
::
sleep_for
(
std
::
chrono
::
milliseconds
(
1000
));
// should init_vehicle first, let car enter work status, then use status msg
// trigger control
AINFO
<<
"Control default driving action is "
<<
DrivingAction_Name
(
control_conf_
.
action
());
pad_msg_
.
set_action
(
control_conf_
.
action
());
double
start_timestamp
=
Clock
::
NowInSeconds
();
if
(
control_conf_
.
is_control_test_mode
()
&&
...
...
编辑
预览
Markdown
is supported
0%
请重试
或
添加新附件
.
添加附件
取消
You are about to add
0
people
to the discussion. Proceed with caution.
先完成此消息的编辑!
取消
想要评论请
注册
或
登录